Collision avoidance apparatus

Abstract

A collision avoidance apparatus includes an obstacle detection unit to detect an obstacle ahead of a vehicle; an approaching object detection unit to detect an approaching object approaching the vehicle from behind the vehicle; and an electronic control unit to calculate a collision time until the vehicle collides with the obstacle, based on the distance and relative speed of the obstacle, and starts a drive support to avoid a collision with the obstacle when the vehicle speed is a lower limit speed or greater, and the collision time is a threshold or less. When there is a likelihood for the object to collide with the vehicle from behind the vehicle, the electronic control unit lowers the lower limit speed, and/or starts drive support when the collision time is the threshold or less, even when the vehicle speed is less than the lower limit speed.

The invention claimed is: 
     
       1. A collision avoidance apparatus for a vehicle, the apparatus comprising:
 an obstacle detection unit that includes a first sensor configured to detect an obstacle positioned ahead of the vehicle; 
 an approaching object detection unit that includes a second sensor configured to detect an approaching object approaching the vehicle from behind the vehicle; and 
 an electronic control unit configured to:
 (i) calculate a collision time until the vehicle collides with the obstacle detected by the first sensor, based on a distance between the vehicle and the obstacle, and a relative speed of the obstacle with respect to the vehicle; and 
 (ii) execute a drive support to avoid the collision between the vehicle and the obstacle based on the collision time, and to start the drive support when (1) a vehicle speed of the vehicle is greater than or equal to a predetermined lower limit speed and (2) the collision time is less than or equal to a predetermined threshold; 
 
 wherein the electronic control unit executes at least one of
 (a) lowering the lower limit speed when it has been determined, based on an output of the second sensor, that a likelihood exists for the approaching object to collide with the vehicle from behind the vehicle, and 
 (b) starting the drive support when it has been determined that the likelihood exists for the approaching object to collide with the vehicle from behind the vehicle, and the collision time is less than or equal to the predetermined threshold, even when the vehicle speed of the vehicle is less than the predetermined lower limit speed. 
 
 
     
     
       2. The collision avoidance apparatus as claimed in  claim 1 , wherein
 the drive support includes automatic braking to generate a braking force of the vehicle, 
 the predetermined threshold includes a predetermined braking threshold for conducting the automatic braking, and 
 the electronic control unit starts the automatic braking when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined braking threshold for the automatic braking. 
 
     
     
       3. The collision avoidance apparatus as claimed in  claim 2 , wherein
 the drive support includes alarming to warn a driver of the vehicle about the obstacle, 
 the predetermined threshold includes a predetermined alarming threshold for conducting the alarming, the predetermined alarming threshold being greater than the predetermined braking threshold, and 
 the electronic control unit increases the predetermined alarming threshold when the likelihood increases for the approaching object to collide with the vehicle from behind the vehicle, and starts the alarming when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined alarming threshold. 
 
     
     
       4. The collision avoidance apparatus as claimed in  claim 3 , wherein
 the alarming warns the driver of the vehicle by a sound, and 
 the electronic control unit increases a volume of the sound of the alarming when the likelihood increases for the approaching object to collide with the vehicle from behind, and starts the alarming by the sound when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined alarming threshold. 
 
     
     
       5. The collision avoidance apparatus as claimed in  claim 2 , wherein
 the drive support includes alarming to warn a driver of the vehicle about the obstacle by a sound, 
 the predetermined threshold includes a predetermined alarming threshold for conducting the alarming by the sound, the predetermined alarming threshold being greater than the predetermined braking threshold, and 
 the electronic control unit increases a volume of the sound of the alarming when the likelihood increases for the approaching object to collide with the vehicle from behind the vehicle, and starts the alarming by the sound when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined alarming threshold. 
 
     
     
       6. The collision avoidance apparatus as claimed in  claim 1 , wherein
 the drive support includes alarming to warn a driver of the vehicle about the obstacle, 
 the predetermined threshold includes a predetermined alarming threshold for conducting the alarming, and 
 the electronic control unit increases the predetermined alarming threshold when the likelihood increases for the approaching object to collide with the vehicle from behind the vehicle, and starts the alarming when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined alarming threshold. 
 
     
     
       7. The collision avoidance apparatus as claimed in  claim 6 , wherein
 the alarming warns the driver of the vehicle by a sound, and 
 the electronic control unit increases a volume of the sound of the alarming when the likelihood increases for the approaching object to collide with the vehicle from behind, and starts the alarming by the sound when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined alarming threshold. 
 
     
     
       8. The collision avoidance apparatus as claimed in  claim 1 , wherein
 the drive support includes alarming to warn a driver of the vehicle about the obstacle by a sound, 
 the predetermined threshold includes a predetermined alarming threshold for conducting the alarming by the sound, and 
 the electronic control unit increases a volume of the sound of the alarming when the likelihood increases for the approaching object to collide with the vehicle from behind the vehicle, and starts the alarming by the sound when the vehicle speed is greater than or equal to the lower limit speed, and the collision time is less than or equal to the predetermined alarming threshold.